Introduction

This section explains how to use the CM1-T Cool Muscle motor with EtherNet/IP. It is assumed there is a basic knowledge of EtherNet/IP and PLC programming. The implementation makes use of the different Modes Of Operation in the motor. It does not use CML logic and bank programming. However, setup (K) and controller gain (H) parameters are used for things like motor resolution, s-curve, software limits, etc. These are all accessible to be setup with Control Room or over explicit messages.

Device Profile

The CM1-T uses a generic device profile. This is to allow it to be flexible and operate in a number of control modes.

I/O Messages

The breakdown of the I/O messages is shown below.

T2O (Input) Message

The input message is 32 bytes long.

O2T (Output) Message

The output message is 20 byes long

Control Modes

This section focuses on controlling the motor with the provided Add on Instructions (AOIs). These will satisfy most applications, however, if required, the motor can be controlled by setting the CM1-T objects directly (see I/O Messages). Understanding the Modes Of Operation will be important in this case.

There are currently 3 main control modes available while running the motor over EtherNet/IP. 

1. Position - this mode sets the motor to run to a target position. The position could be absolute or relative
2. Speed - this mode allows the motors speed to be controlled for continuous motion
3. Torque - this mode allows the motors torque to be controlled.

The control modes are mapped to the ModeOfOperation value from the CM1T_ControlMode  AOI:

In addition:

• Homing is an additional mode that can be executed at any point. Homing should start from a known safe state to avoid unexpected changes in motion
• All modes can be switched to during motion. It is recommended the state is switched during a known safe state.
• Torque can be limited in all modes. Running in torque mode will disable errors such as position error which can still occur in other modes if the set torque is too low. The torque is set in 0.1% of rated torque. The range is [0,1100]. By default the torque is set to 1100 when using the AOIs supplied.

Position Mode

Absolute position and relative position both use the position mode. The key difference in operation between the two is the usage of the start bit in the CM1T_Controlword. An absolute move will accept a new position immediately if the start bit is 1.

Start Bit Usage

Motion Parameters

Position moves will accept the following motion parameters. These will be processed immediately if the start bit is high.

(1) If the deceleration is set to 0 the acceleration value will be used
(2) MoveAbsolute or MoveRelative AOI

Speed Mode

A speed move has no target position and will continue to run at the target speed. Setting a -ve speed value will reverse direction.

Start Bit Usage

Motion Parameters

Speed moves will accept the following motion parameters. These will be processed immediately if the start bit is high.

(1) If the deceleration is set to 0 the acceleration value will be used
(2) MoveSpeed AOI

Torque Mode

A torque move only uses a target torque and maximum speed. Acceleration of the motor should be limited by adjusting the target torque or speed.

Setting a -ve torque value will reverse direction.

Start Bit Usage

Motion Parameters

Torque moves will accept the following motion parameters. These will be processed immediately if the start bit is high.

(1) MoveTorque AOI

RSLogix Resources

User Data Types

CM1T_Axis

The CM1-T_Axis data type defines how the bytes are assigned withing the IO message.

CM1T_Controlword

CM1T_DriveStatus

Add-On Instructions

The following tables outlines the available add-on instructions

CM1T_DataExchange

This AOI is required if any other AOIs are used. One instance is required for each CM1-T axis being controlled.

It has a number of functions

1. It exchanges data between the motor connections and the motor/drive tag.
2. It places the Controlword bits into the Controlword data type
3. It retrieves the drive status and places it into the DriveStatus variable.

Parameters

Execution

CM1T_Enable

This AOI enables the motor and drive. Torque will be present.

Parameters

Execution

CM1T_Disable

This AOI disables the motor and drive. Torque will not be present

Parameters

Execution

CM1T_ClearFault

This AOI clears any drive fault/error condition. This will also enable the motor. The rung-out-condition indicates the drive error state (true or false).

Parameters

Execution

CM1T_ControlMode

This AOI set the motion control mode.

Parameters

Execution

CM1T_MoveAbsolute

This AOI will execute an absolute position move.

Parameters

Execution

CM1T_MoveRelative

This AOI will execute a relative position move.

Parameters

Execution

CM1T_MoveSpeed

This AOI will execute a speed move.

Parameters

Execution

CM1T_MoveTorque

This AOI will execute a torque move.

Parameters

Execution

Adding CM1-T and AOIs to Project

Download and extract the CM1T_AOIs support file.

The file includes the following

1. CM1T_SampleApplication.ACD - This a sample application built RSLogix. It shows how to
   1. Run the motors in each of the modes
   2. Reset from faults
   3. Enable/Disable the motor
2. User Data Types (UDT)
3. Add-On Instructions (AOI)

TODO: ADD FILE

Import User Data Types (UDTs)

The following steps show how to import the UDTs used by the CM1-T module.

1. Right click on Data Types → User-Defined and select "Import Data Type..."
   
2. Browse to the location where the CM1T_AOI support file was extracted. Select the CM1T_Axis and click import. 
   
3. On the Import Configuration window click OK
4. The CM1T_Axis, CM1T_Controlword and CM1T_DriveStatus should all have been import as shown below. If they were not repeat steps 1-3 with the CM1T_Controlword and CM1T_DriveStatus.
   

Import Add-On Instructions (AOIs)

The following steps show how to import the CM1-T modules AOIs. The only required AOI is CM1T_DataExchange. All the other AOIs depend on this one to populate the data type.

1. Right click on Add-On Instructions and select "Import Add-On Instruction..."
   
2. Browse to the extracted AOI folder and select CM1T_DataExchange. Click Import
   
3. On the Configuration Import window click OK.
4. Repeat steps 1-3 until all required AOIs are imported
5. The Add-On Instruction tree will look as follows once all AOIs are imported
   

Add CM1-T Module

The following steps show how to add an CM1-T module in RSLogix. At present the EtheNet/IP is in testing and the CM1-T is added a a generic module.

1. Open an existing project or start a new one
2. In the Controller Organizer expand I/O Configuration and right click on "Ethernet". Select "New Module"
   
3. Search "Generic", Select "ETHERNET-MODULE" and click Create
   
4. Fill in the following properties shown below
   
   1. Name: Give the drive a name. E.g. CM1T_Drive, Axis1, LabelXAxis, etc
   2. Comm Format: Data - SINT
   3. IP Address: Enter the IP Address of the CM1-T you are adding.
   4. Connection Parameters
      1. Input: Assembly Instance = 100, Size = 32
      2. Output: Assembly Instance = 112, Size = 20
      3. Configuration: Assembly Instance = 1, Size = 0
   5. Click OK
5. The Module Properties window should open. If it does not double click on the newly created module inside the Ethernet heading.
   Select the Connection Tab
   
   1. Set the packet interval as required. Typically this would be 10ms.
   2. Check the boxes as shown in the picture above

The final set of steps below shows how to add the CM1T_DataExchange AOI and configure it to exchange data between the tag created for the CM1-T and the CM1-T module. A single instance of the CM1T_DataExchange should be created per module. There should never be more than one per module.

1. Add the CM1T_DataExchange AOI to a rung
   
2. Create a CM1T_DataExchange Tag and attached it to this instance. In this example it is called FB_CM1T_DataExchnage
   
3. Expand the DriveInput drop down menu and select the CM1T_Drive module input create earlier
4. Expand the DriveOuput drop down menu and select the CM1T_Drive module output create earlier
   
5. Create a new CM1T_Axis tag and attach it to the instruction. This is the tag that will be used in all other AOIs
   

All CM1-T AOIs are now ready to be used. See the example application for more details on running the motor.

Example Logic

The following logic is from the sample application supplied. The example shows how to run the motor in each of the modes, enable, disable, halt, and recover from an error.